An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems | IEEE Conference Publication | IEEE Xplore

An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems


Abstract:

In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-sl...Show More

Abstract:

In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
Date of Conference: 20-24 May 2019
Date Added to IEEE Xplore: 12 August 2019
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Conference Location: Montreal, QC, Canada

References

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